#! /usr/bin/env python                                                                   
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PACKAGE='pointcloud_to_laserscan'
import roslib; roslib.load_manifest(PACKAGE)
import math

from dynamic_reconfigure.parameter_generator import *

gen = ParameterGenerator()
gen.add("min_height", double_t, 0, "The minimum height to include from the point cloud.",0.10, 0.0, 100.0)
gen.add("max_height", double_t, 0, "The maximum height to include from the point cloud.",0.15, 0.0, 100.0)

gen.add("angle_min", double_t, 0, "The minimum angle of the resulting laser scan.", -math.pi/2.0, -math.pi, math.pi)
gen.add("angle_max", double_t, 0, "The maximum angle of the resulting laser scan.", math.pi/2.0, -math.pi, math.pi)
gen.add("angle_increment", double_t, 0, "The angle increment of the resulting laser scan.", math.pi/180.0/2.0, 0, math.pi)
gen.add("scan_time", double_t, 0, "The scan time of the resulting laser scan.", 1.0/30.0, 0.0, 1)
gen.add("range_min", double_t, 0, "The minimum range of the resulting laser scan.", 0.45, 0.0, 100.0)
gen.add("range_max", double_t, 0, "The maximum range of the resulting laser scan.", 10.0, 0.0, 100.0)

gen.add("output_frame_id", str_t, 0, "The frame id of the resulting laser scan.","/openi_depth_frame")

exit(gen.generate(PACKAGE, "cloud_to_scan_dynamic_reconfigure", "CloudScan"))
